A foraging group of autonomous, mobile robots - implementation of hierarchical fuzzy behavior-based control
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abstract

A hierarchical, fuzzy, behavior-based algorithm has been implemented successfully for the
control of a foraging group of robots. This algorithm enables hybridization of knowledge and
behavior-based control. Distinct behaviors are weighed according to their applicability to the
current control cycle using global knowledge. Combining fuzzy logic and behavior-based
control increases the systems adaptability and robustness.